| /DUBwise/trunk/shared/src/MKCommunicator.java |
|---|
| 29,6 → 29,9 |
| public class MKCommunicator |
| implements Runnable,DUBwiseDefinitions |
| { |
| public int angle_nick=-4242; |
| public int angle_roll=-4242; |
| public byte bl_retrys=0; |
| public boolean init_bootloader=false; |
| 677,6 → 680,9 |
| break; |
| case 'w': |
| int[] dec=Decode64(data,3,len-3); |
| angle_nick=debug_data.parse_signed_int_2(dec[0],dec[1]); |
| angle_roll=debug_data.parse_signed_int_2(dec[2],dec[3]); |
| stats.angle_data_count++; |
| break; |
| /DUBwise/trunk/shared/src/MKDebugData.java |
|---|
| 61,16 → 61,25 |
| names[id]+=":"; |
| } |
| public int parse_signed_int_2(int i1,int i2) |
| { |
| int res=(int)((i2<<8)|i1); |
| if ((res&(1<<15))!=0) |
| return -(res&(0xFFFF-1))^(0xFFFF-1); |
| else |
| return res; |
| } |
| public void set_by_mk_data(int[] in_arr,MKVersion version) |
| { |
| for (i=0;i<32;i++) |
| { |
| analog[i]=(int)((in_arr[3+i*2]<<8) | in_arr[2+i*2]); |
| if ((analog[i]&(1<<15))!=0) |
| analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
| } |
| // { |
| analog[i]=parse_signed_int_2( in_arr[2+i*2], in_arr[3+i*2] ); |
| //(int)((in_arr[3+i*2]<<8) | in_arr[2+i*2]); |
| // if ((analog[i]&(1<<15))!=0) |
| //analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
| // } |
| motor_complete=motor_val(0)+motor_val(1)+motor_val(2)+motor_val(3); |
| /DUBwise/trunk/shared/src/MKWatchDog.java |
|---|
| 148,7 → 148,12 |
| case USER_INTENT_EXTERNAL_CONTROL: |
| if (resend_check(mk.stats.external_control_confirm_frame_count)) |
| { |
| mk.send_extern_control(); |
| mk.send_extern_control(); |
| mk.send_extern_control(); |
| mk.send_extern_control(); |
| } |
| break; |